Have seen a similar thread to this lately but my problem is not with my lawn as although it is covered with brown patches we re-seed and feed regularly and I can live with it but with plants. We have three borders and apart from trampling on the shrubs which they can just about cope with one of the dogs insists on cocking his leg on each plant. I have tried putting cat & dog repellant down but it doesn't deter him. I've tried log roll and he just steps over it. Any ideas other than raised beds which might be a bit costly. The only thing I can think of would be higher edging but it would have to be pretty high (big dog) and you wouldn't be able to see the shrubs although most of them have died anyway now.
Any ideas appreciated. Maybe you just can't have a nice garden if you have two big dogs.